Self-Optmizing Energy Management for a Hybrid Energy Supply Module
The D2 subproject aims at an application of self-optimization both on the level of the overall system, the Autonomous Mechatronic System (AMS), and that of an interaction between individual systems, the Cross-linked Mechatronic System (CMS), with the self-optimising systems consisting of yet other self-optimising Mechatronic Function Modules (MFM) that are connected to one another mainly by energetic and mechanical couplings. This brings about a distributed self-optimization on different hierarchical levels. It is important to take into account the reciprocal interactions between several Mechatronic Function Modules (MFM). This requires optimization of a global system of objectives in consideration of the local objectives of the individual modules.
For realistic problems, solutions are developed and tested at test stands in order to demonstrate the potentials inherent in self-optimization and give impetus toward further advances in self-optimisation methods. Application of the methods and concepts developed in the other subprojects yields system components that operate self-sufficiently and, when interconnected, make up the self-optimizing vehicle as a whole and, on a higher level, the system of interconnected vehicles.
In the process, environmental impacts and influences that the system exerts upon itself are included in the self-optimization process. So far, the demonstrators have come from the domain of railway systems (RailCab) yet boast a relevance that far exceeds that of rail technology. For examples of use there are submodules such as the suspension/tilt module, the hybrid energy supply module and, on the VMS level, the formation of convoys including safety concerns in a constantly changing environment.
In the future, the demonstrators of the function modules will be extended and interconnected to make up a distributed vehicle test stand so as to allow closer scrutiny also of the multiple interactions within the system and evaluation of the behaviour of a self-optimizing overall system. A fully active X-by-Wire road vehicle will complement the demonstrators. Thus it will be possible not only to open up a new field of application but also to examine a larger number of degrees of freedom, unsteadiness resulting from runs in less predictable directions and interactions with the user. Another focal point will be reliability on the overall-system level.
Testbed of the Active Suspension System with Related Pareto Sets
Self-Optimizing Energy Management
Mobile vehicular applications like hybrid-electrical cars as well as the RailCab require an on-board energy storage for operation. To satisfy numerous demands like high storage capacity and power, a hybrid energy supply system combining nickel metal hydride batteries as a long term storage and double layer capacitors as a short term storage is investigated.
Via a self-optimizing energy management the demanded power of the vehicle can be distributed among both energy storage devices, flexibly taking into account various objectives like low deterioration, high efficiency or increased availability of the storage dependent on the surroundings of the system. A second energy management for the entire vehicle suitably adapts the power demand of the other function modules and thus the power of the hybrid energy storage in order to offer an optimal operation of the entire vehicle despite the limited ressources power and energy.
Self-Optimizing Active Suspension System
The RailCab-vehicles feature an active suspension system to increase the riding comfort for the passengers. Additional energy is needed to damp the body movement actively and to compensate for arising disturbances. However, energy resources on the vehicles are limited. By means of a self-optimizing planning algorithm including a model-based optimization the adjustment of the active suspension system to the current situation becomes possible during its operation, such that it yields the maximum riding comfort while keeping energy restrictions arising from interactions with other consumers in the vehicle. A conventional strategy would have to make use of worst-case estimations for the entire track resulting in higher energy demands for the same comfort or in a lower average rate for the comfort.
Convoy Building
Convoy
The RailCabs can dynamically and autonomously build and dissolve convoys in order to decrease the energy demand and to increase the track capacity.The control of a RailCab convoy requires a wireless communication between the vehicles. Beside a continuous data transfer needed for the distance control, a message-based communication organizes and initializes convoy building. For a dynamical operation an optimized strategy has been designed. However, a safe operation is always mandatory.The RailCabs are driven by a doubly-fed linear motor. In case of an operation within small vehicle distances, two or more vehicles use a common stator field. This leads to a motor sided coupling between these vehicles. Due to s.o. methods the operating point assignment can be performed flexibly concerning energy balance or long life cycles of the energy storages.
Directors of the Subproject:
Coordinator of the Subproject:
Publications (since 6/2005)
Reviewed Publications
Burmester, S.; Giese, H.; Henkler, S.; Hirsch, M.; Tichy, M.; Gambuzza, A.; Münch, E.; Vöcking, H.: Tool Support for Developing Advanced Mechatronic Systems: Integrating the Fujaba Real-Time Tool Suite with CAMeL-View. In: Proceedings of the 29th International Conference on Software Engineering (ICSE), May 19-27, 2007, Minneapolis, IEEE Computer Society Press, Minneapolis, 2007, pp. 801-804
Böcker, J.; Schulz, B.; Knoke, T.; Fröhleke, N.: Self-Optimization as a Framework for Advanced Control Systems. 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON 06), November 7-10, 2006, Paris, 2006
Frank, U.; Giese, H.; Müller, T.; Oberthür, S.; Romaus, C.; Tichy, M.; Vöcking, H.: Potenziale und Risiken der Selbstoptimierung für die Verlässlichkeit mechatronischer Systeme. 5. Paderborner Workshop Entwurf Mechatronischer Systeme, 22.-23. März 2007, Paderborn, HNI-Verlagsschriftenreihe, Band 210, 2007
Gausemeier, J.; Frank, U.; Low, C.; Henke, C.: From Domain-Spanning Conceptual Design to Domain-Specific Controller. In: Proceedings of the Systems Engineering for Future Capability, February 12-13, 2007, Loughborough, 2007
Gausemeier, J.; Frank, U.; Low, C.; Henke, C.: Synergistic Impact of Domain Spanning Conceptual Design on Control of Self-Optimizing Systems. 1st IEEE Systems Conference, April 9-13, 2007, Honolulu, 2007
Giese, H.; Henkler, S.; Hirsch, M.; Tichy, M.; Vöcking, H.: Modellbasierte Entwicklung vernetzter, mechatronischer Systeme am Beispiel der Konvoifahrt autonom agierdender Schienenfahrzeuge. 4. Paderborner Workshop Entwurf mechatronischer Systeme, 30.-31. März 2006, Paderborn, HNI-Verlagsschriftenreihe, Band 189, 2006, S. 457-473
Gambuzza, A.; Koert, D.; Münch, E.; Vöcking, H.: Automatische Codegenerierung für verteilte Informationsverarbeitung in mechatronischen Systemen. 4. Paderborner Workshop Entwurf mechatronischer Systeme, 30.-31. März 2006, Paderborn, HNIVerlagsschriftenreihe, Band 189, 2006
Henke, C.; Fröhleke, N.; Böcker, J.: Advanced Convoy Control Strategy for Autonomously Driven Railway Vehicles. IEEE Conference on Intelligent Transportation Systems, September 17-20, 2006, Toronto, 2006
Henke, C.; Rustemeier, C.; Schneider, T.; Böcker, J.; Trächtler, A.: RailCab - Ein Schienenverkehrssystem mit autonomen, Linearmotor getriebenen Einzelfahrzeugen. Internationaler ETG-Kongress 2007 - Kundennutzen durch neue Technologien in der Bahntechnik, 23.-24. Oktober 2007, Karlsruhe, 2007
Henke, C.; Tichy, M.; Schneider, T.; Böcker, J.; Schäfer, W.: Organization and Control of Autonomous Railway Convoys. 9th International Symposium on Advanced Vehicle Control (AVEC 08), October 6 - 9, 2008, Kobe, Japan, 2008
Henke, C.; Tichy, M.; Schneider, T.; Böcker, J.; Schäfer, W.: System Architecture and Risk Management for Autonomous Railway Convoys. 2nd Annual IEEE Systems Conference, April 7-10, 2008, Montreal, 2008
Henke, C.; Vöcking, H.; Böcker, J.; Fröhleke, N.; Trächtler, A.: Convoy Operation of Linear Motor Driven Railway Vehicles. In: Proceedings of the Fifth International Symposium on Linear Drives for Industry Applications, September 25-28, 2005, Kobe, Japan, 2005
Knoke, T.; Böcker, J.: Optimal Power Train Design of a Hybrid Refuse Collector Vehicle. IEEE Vehicle Power and Propulsion Conference, September 9-12, 2007, Arlington, Texas, 2007
Knoke, T.; Böcker, J.: Potenziale eines hybriden Fahrzeugantriebs in einem Abfallsammelfahrzeug. 9. Internationales VDI Forum Nutzfahrzeuge, 14.-15. Juni 2007, München, 2007
Knoke, T.; Romaus, C.; Böcker, J.; Dell'Aere, A.; Witting, K.: Energy Management for an Onboard Storage System Based on Multi-Objective Optimization. 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON 06), November 7-10, 2006, Paris, 2006, pp. 4677-4682
Knoke, T.; Romaus, C.; Boecker, J.: Optimization and Comparison of Heuristic Control Strategies for Parallel Hybrid-Electric Vehicles. 23rd International Electric Vehicle Symposium (EVS23), December 2-5, 2007, Anaheim, California, 2007
Klöpper, B.; Romaus, C.; Schmidt, A.; Vöcking, H.: A Multi-Agent Planning Problem for the Coordination of Function Modules. Self-optimizing Mechatronic Systems: Design the Future, February 20-21, 2008, Paderborn, HNI-Verlagsschriftenreihe, Band 223, Paderborn, 2008, pp. 377-393
Klöpper, B.; Romaus, C.; Schmidt, A.; Vöcking, H.; Donoth, J.: Defining Plan Metrics for Multi-Agent Planning within Mechatronic Systems. In: Proceedings of the IDETC/CIE 2008 ASME 2008 International Design Engineering Technical Conferences & Computers and Invormation in Engineering Conference, August 3-6, 2008, New York City, 2008
Lückel, J.; Münch, E.; Vöcking, H.; Hestermeyer, T.: Online Optimization of a Preview Controller - Structure and Algorithms. Journal of Theoretical and Applied Mechanics (JTAM), Volume 43/3, 2005, pp. 575-591
Münch, E.; Vöcking, H.; Hestermeyer, T.: Self-Learning Disturbance Compensation for Active Suspension Systems. In: Proceedings of the International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005), September 14-17, 2005, Barcelona, 2005
Oberthür, S.; Znamenshchykov, A.; Klöpper, B.; Vöcking, H.: Improved Flexible Resource Management by Means of Look-Ahead Scheduling and Bayesian Forecasting. Self-optimizing Mechatronic Systems: Design the Future, February 20-21, 2008, Paderborn, HNI-Verlagsschriftenreihe, Band 223, Paderborn, 2008, pp. 361-376
Pottharst, A.; Henke, C.; Schneider, T.; Böcker, J.; Grotstollen, H.: Drive Control and Position Measurement of RailCab Vehicles Driven by Linear Motors. 6th International Symposium on Instrumentation Science and Technology (ISIST 2006), October 13-15, 2006, Beijing, 2006
Radkowski, R.; Henke, C.: Einsatz von Virtual Reality zur Untersuchung realer und simulierter mechatronischer Systeme am Beispiel der neuen Bahntechnik Paderborn. 10. IFF-Wissenschaftstage, 27.-28. Juni 2007, Magdeburg, 2007
Schneider, T.; Schulz, B.; Henke, C.; Böcker, J.: Redundante Positionserfassung für ein spurgeführtes linearmotorgetriebenes Bahnfahrzeug. 4. Paderborner Workshop Entwurf mechatronischer Systeme, 30.-31. März 2006, Paderborn, HNI-Verlagsschriftenreihe, Band 189, 2006
Trächtler, A.; Münch, E.; Vöcking, H.: Iterative Learning and Self-Optimization Techniques for the Innovative RailCab-System. In: Proceedings of the 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON 06), November 07-10, 2006, Paris, 2006, pp. 4683-4688
Vöcking, H.; Trächtler, A.: Self-optimization of an Active Suspension System Regarding Energy Requirements. International Conference on Control, Automation and Systems 2008 (ICCAS 2008), October 14-17, 2008, Seoul, 2008
Ph.D.-Theses
Hestermeyer, T.: Strukturierte Entwicklung der Informationsverarbeitung für die aktive Federung eines Schienenfahrzeugs. Dissertation, Fakultät für Maschinenbau, Universität Paderborn, 2006
Pottharst, A.: Energieversorgung und Leittechnik einer Anlage mit Linearmotor getriebenen Bahnfahrzeugen. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, Shaker Verlag, Aachen, 2006
